#####
#
# This file maps all the topics that are to be used on the uXRCE-DDS client.
#
#####
publications:

  - topic: /fmu/out/collision_constraints
    type: px4_msgs::msg::CollisionConstraints

  - topic: /fmu/out/failsafe_flags
    type: px4_msgs::msg::FailsafeFlags

  - topic: /fmu/out/position_setpoint_triplet
    type: px4_msgs::msg::PositionSetpointTriplet

  - topic: /fmu/out/sensor_combined
    type: px4_msgs::msg::SensorCombined

  - topic: /fmu/out/timesync_status
    type: px4_msgs::msg::TimesyncStatus

  # - topic: /fmu/out/vehicle_angular_velocity
  #   type: px4_msgs::msg::VehicleAngularVelocity

  - topic: /fmu/out/vehicle_attitude
    type: px4_msgs::msg::VehicleAttitude

  - topic: /fmu/out/vehicle_control_mode
    type: px4_msgs::msg::VehicleControlMode

  - topic: /fmu/out/vehicle_global_position
    type: px4_msgs::msg::VehicleGlobalPosition

  - topic: /fmu/out/vehicle_gps_position
    type: px4_msgs::msg::SensorGps

  - topic: /fmu/out/vehicle_local_position
    type: px4_msgs::msg::VehicleLocalPosition

  - topic: /fmu/out/vehicle_odometry
    type: px4_msgs::msg::VehicleOdometry

  - topic: /fmu/out/vehicle_status
    type: px4_msgs::msg::VehicleStatus

  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
    type: px4_msgs::msg::VehicleTrajectoryWaypoint

subscriptions:

  - topic: /fmu/in/offboard_control_mode
    type: px4_msgs::msg::OffboardControlMode

  - topic: /fmu/in/onboard_computer_status
    type: px4_msgs::msg::OnboardComputerStatus

  - topic: /fmu/in/obstacle_distance
    type: px4_msgs::msg::ObstacleDistance

  - topic: /fmu/in/sensor_optical_flow
    type: px4_msgs::msg::SensorOpticalFlow

  - topic: /fmu/in/telemetry_status
    type: px4_msgs::msg::TelemetryStatus

  - topic: /fmu/in/trajectory_setpoint
    type: px4_msgs::msg::TrajectorySetpoint

  - topic: /fmu/in/vehicle_attitude_setpoint
    type: px4_msgs::msg::VehicleAttitudeSetpoint

  - topic: /fmu/in/vehicle_mocap_odometry
    type: px4_msgs::msg::VehicleOdometry

  - topic: /fmu/in/vehicle_rates_setpoint
    type: px4_msgs::msg::VehicleRatesSetpoint

  - topic: /fmu/in/vehicle_visual_odometry
    type: px4_msgs::msg::VehicleOdometry

  - topic: /fmu/in/vehicle_command
    type: px4_msgs::msg::VehicleCommand

  - topic: /fmu/in/vehicle_trajectory_bezier
    type: px4_msgs::msg::VehicleTrajectoryBezier

  - topic: /fmu/in/vehicle_trajectory_waypoint
    type: px4_msgs::msg::VehicleTrajectoryWaypoint
